Denavit-Hartenberg Parameters for a Three-Link Robot

j

1

Revolute

Prismatic

θ

1

5π

32

d

1

1

r

1

0

α

1

π

2

j

2

Revolute

Prismatic

θ

2

π

4

d

2

0

r

2

1

α

2

0

j

3

Revolute

Prismatic

θ

3

-

3π

8

d

3

0

r

3

1

α

3

0

grip

1

The Denavit–Hartenberg (DH) convention for assigning coordinate frames uses four variables to define the reference coordinate frame for each link in a robotic arm. This Demonstration lets you select a three-link combination of revolute (rotating) and prismatic (sliding) joints. You can then vary their DH parameters to create a variety of robot arms in different configurations.